Here’s a look at which autonomous vehicles are in Austin and when you can expect to catch a robotaxi ride from them.

Electric car maker Tesla started a trial of its long-awaited robotaxi service in Austin, Texas, on Sunday, the first step toward what could be a showdown with Alphabet's Waymo, the only player currently offering fully autonomous paid rides in the United States.

It's been a little less than a decade since Tesla CEO Elon Musk first announced his electric vehicle manufacturer would roll out a fleet of robotaxis across the country. In 2016, the billionaire said they would hit the streets two years later.